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FlightTaskFailure: will hover if position available, will land if velocity valid and

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will land with 0.3 of hover thurst if position nor velocity is valid
This commit is contained in:
Dennis Mannhart
2018-08-22 11:42:47 +02:00
committed by ChristophTobler
parent d370a7c2b5
commit 4d9f96bfbd
4 changed files with 169 additions and 0 deletions
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src/lib/FlightTasks/CMakeLists.txt
+1
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@@ -60,6 +60,7 @@ list(APPEND flight_tasks_all
AutoLine
AutoFollowMe
Offboard
Failsafe
${flight_tasks_to_add}
)
src/lib/FlightTasks/tasks/Failsafe/CMakeLists.txt
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@@ -0,0 +1,39 @@
############################################################################
#
# Copyright (c) 2018 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_library(FlightTaskFailsafe
FlightTaskFailsafe.cpp
)
target_link_libraries(FlightTaskFailsafe PUBLIC FlightTask)
target_include_directories(FlightTaskFailsafe PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
src/lib/FlightTasks/tasks/Failsafe/FlightTaskFailsafe.cpp
+72
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@@ -0,0 +1,72 @@
/****************************************************************************
*
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file FlightTaskFailsafe.cpp
*/
#include "FlightTaskFailsafe.hpp"
bool FlightTaskFailsafe::activate()
{
bool ret = FlightTask::activate();
_position_setpoint = _position;
_velocity_setpoint *= 0.0f;
_thrust_setpoint = matrix::Vector3f(0.0f, 0.0f, -MPC_THR_HOVER.get() * 0.5f);
_yaw_setpoint = _yaw;
_yawspeed_setpoint = 0.0f;
return ret;
}
bool FlightTaskFailsafe::update()
{
if (PX4_ISFINITE(_position(0)) && PX4_ISFINITE(_position(1))) {
_velocity_setpoint(0) = _velocity_setpoint(1) = 0.0f;
_thrust_setpoint(0) = _thrust_setpoint(1) = 0.0f;
} else if (PX4_ISFINITE(_velocity(0)) && PX4_ISFINITE(_velocity(1))) {
_position_setpoint(0) = _position_setpoint(1) = NAN;
_thrust_setpoint(0) = _thrust_setpoint(1) = NAN;
}
if (PX4_ISFINITE(_position(2))) {
_velocity_setpoint(2) = 0.0f;
_thrust_setpoint(2) = NAN;
} else if (PX4_ISFINITE(_velocity(2))) {
_position_setpoint(2) = NAN;
_thrust_setpoint(2) = NAN;
}
return true;
}
src/lib/FlightTasks/tasks/Failsafe/FlightTaskFailsafe.hpp
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@@ -0,0 +1,57 @@
/****************************************************************************
*
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file FlightTaskFailsafe.hpp
*
*/
#pragma once
#include "FlightTask.hpp"
class FlightTaskFailsafe : public FlightTask
{
public:
FlightTaskFailsafe() = default;
virtual ~FlightTaskFailsafe() = default;
bool update() override;
bool activate() override;
private:
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
(ParamFloat<px4::params::MPC_LAND_SPEED>) MPC_LAND_SPEED,
(ParamFloat<px4::params::MPC_THR_HOVER>) MPC_THR_HOVER /**< throttle value at which vehicle is at hover equilibrium */
)
};